// Section 01

Decision Framework

Before designing an endgame mechanism, decide whether to build one at all — and what kind serves your robot best.

⚠️

Most teams overbuild endgame. A mechanism that consistently executes in 12 seconds beats a complex one that works 70% of the time. Reliability beats speed. Reliability beats points.

Should You Build an Endgame Mechanism?

Endgame points are only valuable if:

The points are significant relative to match scoring (check the game manual)
Your robot is reliable enough to survive to endgame every match
You can complete the endgame action within the time window without losing cycle time
The mechanism does not break other subsystems or reduce reliability elsewhere

Decision Checklist

Calculate the endgame point value vs cycle score

How many game pieces could you score instead in the same 15–20 seconds? If endgame is worth less than 3 additional cycles, evaluate whether the mechanism complexity is justified.

Assess your motor budget

Count your available motors after drivetrain, intake, and primary scoring mechanism. If endgame needs its own motor and you are already at the limit, use pneumatics or a passive mechanism.

Prototype before committing space on the robot

Build a cardboard or polycarbonate prototype. Test that it actually works before cutting metal or allocating space on the robot. Endgame mechanisms that get "added later" consistently cause integration failures.

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// Section 02

Mechanism Types

Common endgame mechanism categories in VRC and the tradeoffs of each.

⚡ Pneumatic Release

A spring or rubber band-loaded mechanism held in place by a pneumatic valve. One solenoid trigger releases it instantly. Most reliable endgame class — no motor needed, difficult to stall, extremely fast.

⚙️ Motor-Driven Lift

A motor drives a four-bar or linear slide into position. Can be reversed if misfired. Uses 1 motor. Slower than pneumatic but more controllable and repositionable.

💨 Passive / Gravity

A mechanism that deploys via gravity or rubber band tension with a latch release. No actuator required. Most efficient but hardest to design reliably.

🔧 Ratchet + Winch

For climbing games: a winch motor with a ratchet prevents backdriving. Can hold position without motor power. Common in games requiring elevation holds.

Mechanism Selection Guide

Factor	Pneumatic	Motor	Passive
Speed	Instant (<0.2s)	1–3 seconds	0.5–1s
Motors used	0	1	0
Can be undone	No	Yes	No
Failure mode	Air leak	Motor stall	Latch release
Build complexity	Medium	Low-Medium	High

💡

Pneumatics are the most reliable endgame actuator in VRC when properly built. A pneumatic release has no stall condition and no motor limit. The downside is air consumption — make sure your air budget allows for it.

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// Section 03

Reliability First

An endgame mechanism that works 95% of the time is worth more than a flashy one that works 70% of the time.

Reliability Design Principles

Single point of failure analysis

For every component in the mechanism, ask: "If this fails, does the whole endgame fail?" If yes, it is a single point of failure. Add a redundant path or redesign to eliminate it.

Over-tension rubber bands

If your mechanism relies on rubber band tension, use 50% more tension than you think you need. Bands weaken over a competition day and lose tension as the robot heats up. What worked in the morning may fail in eliminations.

Test from every realistic robot state

Your endgame fires from wherever the robot is when the endgame call happens — not from your perfect test position. Test: intake loaded, intake empty, robot at different field positions, robot tipped at a slight angle.

Run 20 consecutive endgame cycles

The reliability target is 19/20 or better. Run it, reset it, run it again. If it fails once in 20 reps, find the failure mode and fix it before competition.

Failure Mode Checklist

Does the mechanism clear the robot body at all field positions?
Is there any interference with the intake or scoring mechanism when deployed?
Can the mechanism survive a collision immediately before or during deployment?
If the latch/trigger fires accidentally during the match, does it cause a problem?
Is the driver button mapped so it cannot be hit accidentally?

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// Section 04

Timing & Practice

Endgame skill is not built — it is practiced until it is automatic. The endgame drill is one of the most important drills in your training plan.

When to Start Endgame

Mechanism Deploy Time	Latest Start	Target Start
Instant (<1s)	:08	:15
Fast (1–3s)	:12	:20
Slow (3–6s)	:18	:25
Complex (6–10s)	:25	:30

Always start 5–8 seconds earlier than your "latest start." That buffer absorbs last-second repositioning, a delayed field control signal, and any mechanism hesitation.

Endgame Practice Drill

Set a timer for 12 seconds

Place the robot in a random position on the field. When the timer starts, the driver must navigate to position and complete the full endgame sequence before time expires.

Run from 5 different starting positions

Repeat from the left side, right side, center, near the goal, and near the far wall. Competition will not give you your ideal starting position for endgame.

Target: 10/10 successful runs

If you are not hitting 10/10 in practice, you will not hit 8/10 at competition. The pressure and time constraint at competition are higher than in practice.

💡

Caller role in endgame: The caller, not the driver, decides when to go for endgame. At :25, caller says "endgame now" or "one more cycle." Driver executes without hesitation. This decision is made before the match — not during it.

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